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#include "_highgui.h"
#include <DeepSeaIF.h>

#if _MSC_VER >= 1200
	#pragma comment(lib,"DeepSeaIF.lib")
#endif


/****************** Capturing video from TYZX stereo camera  *******************/
/** Initially developed by Roman Stanchak rstanchak@yahoo.com                  */

class CvCaptureCAM_TYZX : public CvCapture
{
public:
    CvCaptureCAM_TYZX() { index = -1; image = 0; }
    virtual ~CvCaptureCAM_TYZX() { close(); }

    virtual bool open( int _index );
    virtual void close();
    bool isOpened() { return index >= 0; }

    virtual double getProperty(int);
    virtual bool setProperty(int, double) { return false; }
    virtual bool grabFrame();
    virtual IplImage* retrieveFrame(int);
	virtual int getCaptureDomain() { return CV_CAP_TYZX; } // Return the type of the capture object: CV_CAP_VFW, etc...

protected:
    virtual bool allocateImage();

	int index;
    IplImage* image;
}
CvCaptureCAM_TYZX;

DeepSeaIF * g_tyzx_camera   = 0;
int         g_tyzx_refcount = 0;

bool CvCaptureCAM_TYZX::open( int _index )
{
	close();

    if(!g_tyzx_camera){
		g_tyzx_camera = new DeepSeaIF;
		if(!g_tyzx_camera) return false;

		if(!g_tyzx_camera->initializeSettings(NULL)){
			delete g_tyzx_camera;
			return false;
		}

		// set initial sensor mode
		// TODO is g_tyzx_camera redundant?
		g_tyzx_camera->setSensorMode(g_tyzx_camera->getSensorMode());

		// mm's
		g_tyzx_camera->setZUnits((int) 1000);

	    g_tyzx_camera->enableLeftColor(true);
		g_tyzx_camera->setColorMode(DeepSeaIF::BGRcolor);
		g_tyzx_camera->setDoIntensityCrop(true);
		g_tyzx_camera->enable8bitImages(true);
		if(!g_tyzx_camera->startCapture()){
			return false;
		}
		g_tyzx_refcount++;
	}
	index = _index;
	return true;
}

void CvCaptureCAM_TYZX::close()
{
	if( isOpened() )
	{
		cvReleaseImage( &image );
		g_tyzx_refcount--;
		if(g_tyzx_refcount==0){
			delete g_tyzx_camera;
		}
	}
}

bool CvCaptureCAM_TYZX::grabFrame()
{
	return isOpened() && g_tyzx_camera && g_tyzx_camera->grab();
}

bool CvCaptureCAM_TYZX::allocateImage()
{
	int depth, nch;
	CvSize size;

	// assume we want to resize
    cvReleaseImage(&image);

	// figure out size depending on index provided
	switch(index){
		case CV_TYZX_RIGHT:
			size = cvSize(g_tyzx_camera->intensityWidth(), g_tyzx_camera->intensityHeight());
			depth = 8;
			nch = 1;
			break;
		case CV_TYZX_Z:
			size = cvSize(g_tyzx_camera->zWidth(), g_tyzx_camera->zHeight());
			depth = IPL_DEPTH_16S;
			nch = 1;
			break;
		case CV_TYZX_LEFT:
		default:
			size = cvSize(g_tyzx_camera->intensityWidth(), g_tyzx_camera->intensityHeight());
			depth = 8;
			nch = 1;
			break;
	}
	image = cvCreateImage(size, depth, nch);
    return image != 0;
}

/// Copy 'grabbed' image into capture buffer and return it.
IplImage * CvCaptureCAM_TYZX::retrieveFrame(int)
{
	if(!isOpened() || !g_tyzx_camera) return 0;

	if(!image && !alocateImage())
        return 0;

	// copy camera image into buffer.
	// tempting to reference TYZX memory directly to avoid copying.
	switch (index)
	{
		case CV_TYZX_RIGHT:
			memcpy(image->imageData, g_tyzx_camera->getRImage(), image->imageSize);
			break;
		case CV_TYZX_Z:
			memcpy(image->imageData, g_tyzx_camera->getZImage(), image->imageSize);
			break;
		case CV_TYZX_LEFT:
		default:
			memcpy(image->imageData, g_tyzx_camera->getLImage(), image->imageSize);
			break;
	}

	return image;
}

double CvCaptureCAM_TYZX::getProperty(int property_id)
{
	CvSize size;
	switch(capture->index)
	{
		case CV_TYZX_LEFT:
			size = cvSize(g_tyzx_camera->intensityWidth(), g_tyzx_camera->intensityHeight());
			break;
		case CV_TYZX_RIGHT:
			size = cvSize(g_tyzx_camera->intensityWidth(), g_tyzx_camera->intensityHeight());
			break;
		case CV_TYZX_Z:
			size = cvSize(g_tyzx_camera->zWidth(), g_tyzx_camera->zHeight());
			break;
		default:
			size = cvSize(0,0);
	}

	switch( property_id )
	{
		case CV_CAP_PROP_FRAME_WIDTH:
			return size.width;
		case CV_CAP_PROP_FRAME_HEIGHT:
			return size.height;
	}

	return 0;
}

bool CvCaptureCAM_TYZX::setProperty( int, double )
{
	return false;
}

CvCapture * cvCreateCameraCapture_TYZX (int index)
{
	CvCaptureCAM_TYZX * capture = new CvCaptureCAM_TYZX;
    if( capture->open(index) )
        return capture;

    delete capture;
    return 0;
}
